Intelligent Motion Systems MDM42 AC User Manual

M

Patent Pending

Excellence in Motion

42

MICROSTEPPING

TM

T

FEATURES

• Highly Integrated Microstepping Driver
and NEMA 42 High Torque 1.8°
Brushless Step Motor

• Advanced 2nd Generation Current
Control for Exceptional Performance
and Smoothness

• Single Supply: 120 or 240 VAC

• Cost Effective

• Extremely Compact

• High Positioning Accuracy

• No Tuning Required

• Stable at Low Speeds

• No Dithering at Zero Speed

• High Starting Torque

• Allows for Greater Inertia Mismatch

• Built-in Regeneration Circuitry

• 20 Microstep Resolutions up to
51,200 Steps Per Rev Including:
Degrees, Metric, Arc Minutes

• Optically Isolated Logic Inputs will
Accept +5 to +24 VDC Signals,
Sourcing or Sinking

• Automatic Current Reduction

• Confi gurable:

- Motor Run/Hold Current

- Motor Direction vs. Direction Input

- Microstep Resolution

- Clock Type: Step and Direction,
Quadrature, Step Up and Step Down

- Programmable Digital Filtering for
Clock and Direction Inputs

• Available Options:

- Internal Differential Optical Encoder

- Integrated Planetary Gearbox

- Control Knob for Manual Positioning

- IP65 Sealed Confi guration**

• 2 Rotary Motor Lengths Available

• Setup Parameters May Be Switched
On-The-Fly

• Standard Industrial Connectors:

- Circular 19-Pin M23

- Circular 3-Pin Euro AC

• Graphical User Interface (GUI) for Quick
and Easy Parameter Setup

**Consult Factory for Availability.

DESCRIPTION

The MDrive42AC Plus Microstepping
high torque integrated motor and step and
direction driver is ideal for designers who
want the simplicity of a motor with on­board electronics. The integrated electron­ics of the MDrive42AC Plus eliminate the
need to run motor cabling through the ma­chine, reducing the potential for problems
due to electrical noise.

The unsurpassed smoothness and per­formance delivered by the MDrive42AC
Plus Microstepping are achieved through
IMS's advanced 2nd generation current
control. By applying innovative techniques
to control current fl ow through the motor,
resonance is signifi cantly dampened over
the entire speed range and audible noise
is reduced.

The MDrive42AC Plus accepts a broad
input voltage range from 95 to 264 VAC,
delivering enhanced performance and
speed. Oversized input capacitors are
used to minimize power line surges, re­ducing problems that can occur with long
runs and multiple drive systems. An ex­tended operating range of –40° to +75°C
provides long life, trouble free service in
demanding environments.

The MDrive42AC Plus uses a NEMA 42
frame size high torque brushless step mo­tor combined with a microstepping driver,
and accepts up to 20 resolution settings
from full to 256 microsteps per full step, in­cluding: degrees, metric and arc minutes.
These settings may be changed on-the-fl y
or downloaded and stored in nonvolatile
memory with the use of a simple GUI
which is provided. This eliminates the
need for external switches or resistors.
Parameters are changed via an SPI port.

For use in environments where exposure
to chemical, dust and liquids may occur,

a sealed MDrive42AC Plus Microstepping
unit with circular connectors meets IP65
specifi cations.**

The versatile MDrive42AC Plus Micro­stepping is available in multiple con fi g u-
ra tions to fi t various system needs. Two
rotary motor lengths are available and
may include an internal optical encoder, a
control knob for manual positioning or an
integrated planetary gearbox.

In ter face con nec tions are ac com plished
using standard industrial circular connec­tors. And connectivity has never been
easier with options ranging from all-in-

clusive QuickStart Kits to individual
interfacing cables.

The MDrive42AC Plus is a compact, pow­erful and cost effective solution that will
reduce system cost, design and assembly
time for a large range of brushless step
motor applications.

See pg 5.

new

CONFIGURING

The IMS Motor Interface software is an
easy to in stall and use GUI for con fi g ur ing
the MDrive42AC Plus from a computer's
USB port. GUI access is via the IMS SPI
Motor Interface available at
www.imshome.com.

The IMS SPI Motor Interface features:

• Easy installation.

• Automatic detection of MDrive version
and communication confi guration.

• Will not set out-of-range values.

• Tool-tips display valid range
setting for each option.

• Simple screen interfaces.

www.imshome.com

MDrive

42AC Plus

MICROSTEPPING

STANDARD SPEC I FI CA TIONS

INPUT VOLTAGE

ISOLATED INPUT

MOTION

TEMP OUTPUT WARNING

THERMAL

PROTECTION

†

Designed for line-neutral systems.

Range

Step Clock, Direction and Enable

Voltage Range +5 to +24 VDC Sourcing or Sinking

Digital Filter Range 50 nS to 12.9 µS (10 MHz to 38.8 kHz)

Clock Types Step/Direction, Quadrature, Step Up/Step Down

Step Frequency (Max) 2 MHz

Resolution

Open-Drain Type +5 to +24 VDC 50 mA Current

Operating Temperature

Type Thermal, Internal Fuse

120 V MDrive – 95 to 132 VAC @ 50/60 Hz
240 V MDrive – 95 to 264 VAC @ 50/60 Hz

Number of Settings 20

Steps Per Revolution

Heat Sink –40° to +75°C (non-condensing)

Motor –40° to +90°C (non-condensing)

SETUP PARAMETERS

Function Range Units Default

MHC

MRC

MSEL

DIR

HCDT

CLK TYPE

CLK IOF

USER ID

EN ACT

WARN TEMP

All parameters are set using the supplied IMS SPI Motor Interface GUI and may be changed on-the-fl y.
An optional Communication Converter is recommended with fi rst orders.

Motor Hold Current 0 to 100 percent 5

Motor Run Current 1 to 100 percent 25

Microstep Resolution

Motor Direction Override 0/1 — CW

Hold Current Delay Time 0 or 2–65535 mSec 500

Clock Type Step/Dir, Quadrature, Up/Down — Step/Dir

Clock and Direction Filter

User ID Customizable 1–3 characters IMS

Enable Active High/Low — High

Over Temperature Warning 0 to 125°C °C 80°C

1, 2, 4, 5, 8, 10, 16, 25, 32, 50,

64, 100, 108, 125, 127, 128,

180, 200, 250, 256

50 nS to 12.9 µS

(10 MHz to 38.8 kHz)

400, 800, 1000, 1600, 2000, 3200, 5000,

200,
6400, 10000, 12800, 20000, 25000, 25600,
40000, 50000, 51200, 36000 (0.01 deg/µstep),
21600 (1 arc minute/µstep), 25400 (0.001mm/µstep)

†

µsteps per full step 256

nS (MHz) 200 nS (2.5 MHz)

MOTOR SPEC I FI CA TIONS

Holding Torque Detent Torque Rotor Inertia Weight (Motor+Driver)

SINGLE LENGTH

DOUBLE LENGTH

1147 oz-in / 810 N-cm 35 oz-in / 25 N-cm 0.0917

2294 oz-in / 1620 N-cm 84 oz-in / 59 N-cm 0.1833

ENCODER SPECIFICATIONS

19-Pin M23 Connector Function

Pin 3

INTERNAL DIFFERENTIAL

OPTICAL ENCODER

Note: All encoders come with an index mark, except the 400 line count.

2 MDrive42AC Plus Microstepping REV060208

Pin 4 Channel B +

Pin 5 Channel B –

Pin 7 Channel A +

Pin 14 Index –

Pin 15 Channel A –

Pin Assignments

Index +

oz-in-sec2 / 6.5

oz-in-sec2 / 13.0

Line Count Part Number

100 EA

200 EB

400 ED

500 EH

512 EX

1000 EJ

1024 EY

kg-cm

kg-cm

2

14.07 lb / 6.38 kg

2

21.25 lb / 9.64 kg

SPEED-TORQUE

T

i
N

PIN ASSIGNMENTS

MDrive42AC – 120VAC

1800

1600

1400

1200

1000

800

600

Torque in Oz-In

400

200

0

0 2000

(600)

(1200)

Speed – Full Steps/Second (RPM)

MDrive42AC – 240VAC

1800

1600

1400

1200

1000

800

600

Torque in Oz-In

400

200

0

0 2000

(600)

Speed in full steps per second (RPM)

4000

4000

(1200)

Double Motor Length
Single Motor Length

6000

(1800)

Double Motor Length
Single Motor Length

6000

(1800)

8000

(2400)

8000

(2400)

10000
(3000)

10000
(3000)

1271

1130

Torque in N-cm

989

847

706

565

424

282

141

1271

1130

989

847

706

565

424

282

141

orque

n

-cm

P1: I/O & COMM (SPI) CONNECTOR

M23 Circular (Male) Function Function with Encoder

Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8

Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19

Optocoupler Reference Optocoupler Reference

Enable Input Enable Input
No Connect Index +
No Connect Channel B +
No Connect Channel B –
No Connect No Connect
No Connect Channel A +

SPI Master Out – Slave In SPI Master Out – Slave In

SPI Chip Select SPI Chip Select
+5 VDC Output +5 VDC Output

Communications Ground Communications Ground

Shell Connect Shell Connect

CW/CCW Direction Input CW/CCW Direction Input

No Connect Index –
No Connect Channel A –

SPI Clock SPI Clock

SPI Master In – Slave Out SPI Master In – Slave Out

Step Clock Input Step Clock Input

Temp Output Warning Temp Output Warning

P3: POWER CONNECTOR

Euro AC (Male) Function

Pin 1

Chassis Ground
Pin 2 AC Power Line
Pin 3 AC Power Neutral

MECHANICAL SPECIFICATIONS

Dimensions in Inches (mm)

MDrive42AC Plus

L

MAX2

L

MAX

0.49

(12.5)

MDrive Lengths Inches (mm)

L

MAX

Motor
Length

SINGLE SHAFT or

ENCODER VERSION

Single 7.4 (187.96) 9.4 (238.76)
Double 9.4 (238.76) 11.4 (289.56)

L

MAX2

CONTROL KNOB

VERSION

L

MAX2

0.059
(1.5)

Option

Ø 1.9

(Ø 48.3)

0

2.17

(55.0)

1.375

(34.9)

0.75

(19.05)

0.335

(8.51)

Ø 2.185

(Ø 55.5)

Ø 0.75

(Ø 19.05)

Connectors

I/O & Comm Power

Ø 0.87

(Ø 22.1)

0.83

(21.08)

Ø 0.87

(Ø 22.1)

3.0

(76.2)

P3

4.50

(114.3)

P1

0.65

(16.51)

7.4

(187.96)

6.75

(171.45)

3.50 SQ.

(88.88 SQ.)

4.331 SQ.

0.1875

(110.0 SQ.)

(4.76)

Connectivity details:
www.imshome.com/cables_cordsets.html

Control Knob

P1: 19-Pin M23

(Male)

P3: 3-Pin Euro AC

(Male)

MDrive42AC Plus Microstepping REV060208 3

(

)

(

)

MDRIVE42AC PLUS WITH PLANETARY GEARBOX

The MDrive42AC Plus is available with a Planetary Gearbox option developed to increase torque at lower speeds, enable better
inertia matching and produce fi ner positional resolutions. These effi cient, low maintenance Planetary Gearbox come fully assembled
with the MDrive and are offered in a large number of reduction ratios in 1-, 2- and 3-stage confi gurations. An optional NEMA Output
Flange allows mounting the Planetary Gearbox to the load using a standard NEMA bolt circle. Planetary Gearbox may be combined
with other MDrive42AC Plus options, however are unavailable with Linear Actuators.

Planetary Gearbox Parameters

1-STAGE

2-STAGE

PM105

3-STAGE

1-STAGE

2-STAGE

PM120

3-STAGE

Permitted

Output Torque

(oz-in/Nm)

4956/35.0 0.80 1.0° 135/600 27/120 9.7/4.4 10.0/4.5

14869/105.0 0.75 1.5° 202/900 40/180 13.2/6.0 13.6/6.2

27614/195.0 0.70 2.0°

7080/50.0 0.80 0.55° 135/600 27/120 12.3/5.6 12.7/5.8

21242/150.0 0.75 0.60° 202/900 40/180 17.6/8.0 18.1/8.2

42484/300.0 0.70 0.65°

Gearbox

Effi ciency

Maximum

Backlash

Planetary Gearbox for MDrive42Plus

Dimensions in Inches (mm)

PM105 Model

*Gearbox without Flange

†Gearbox with Flange

M8 x 0.630 (16.0) Deep*

4x 0.33 (Ø 8.5) Hole

4.20 SQ.
(106.7 SQ.)

†

3.35 ±0.004 SQ.*

(85.0 ±0.1 SQ.)

3.50

88.9

†

†

Ø 2.76*

(Ø 70.0)

Ctrg. DIN 332-D M10

Key DIN 6885-A-8x7x40mm

or

Ø 2.187

(Ø 55.54)

Ø 0.98

(Ø 25.0)

PM120 Model

*Gearbox without Flange
†Gearbox with Flange

M10 x 0.866 (22.0) Deep*

4x 0.35 (Ø 9.0) Hole

†

Ø 3.15*

(Ø 80.0)

or

†

Ø 2.187

(Ø 55.54)

Ø 1.26

(Ø 32.0)

Output Side with Ball Bearing

Maximum Load

(lb-force/N)

Weight

(lb/kg)

Radial Axial Gearbox w/Flange

337/1500

337/1500

2.33 ±0.02*
(59.1 ±0.5)

or

2.04 ±0.02
(51.7 ±0.5)

†

67/300

67/300

*

0.20
(5.0)

0.35*

(9.0)

0.50

(12.7)

16.8/7.6 17.3/7.8

22.9/10.4 23.5/10.7

k1 ±0.02 (±0.5)

†

0.079

or

(2.0)

Ø 4.13

(Ø 105.0)

†

Gearbox Lengths Inches (mm)

0.079
(2.0)

0.24

(6.2)

k1

†

†

2.86 ±0.02*
(72.7 ±0.5)

or

2.53 ±0.02

(64.2 ±0.5)

1-Stage
2-Stage
3-Stage

†

GEARBOX* with FLANGE

5.73 (145.5) 5.9 (149.9)

7.07 (179.6) 7.13 (181.0)

8.41 (213.7) 8.35 (212.0)

k1 ±0.02 (±0.5)

0.20*

or

(5.0)

0.59*

or

(15.0)

Ratios and Part Numbers

Planetary

Gearbox

1-Stage
1-Stage
1-Stage

2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage
2-Stage

3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage

MDrive42AC Plus

3-Stage
3-Stage
3-Stage
3-Stage
3-Stage
3-Stage

**Indicates limited ratios available for PM120 gearbox.

†

‡ Include optional planetary gearbox by adding –G plus
3 characters to the end of an MDrive part number.

Ratio

(Rounded)

3.71:1 ** G1A1 G2A1

5.18:1 G1A2 —

6.75:1** G1A3 G2A3

13.73:1** G1A4 G2A4

15.88:1 G1A5 —

18.37:1 G1A6 —

19.20:1 G1A7 —

22.21:1 G1A8 —

25.01:1** G1A9 G2A9

26.85:1 G1B1 —

28.93:1 G1B2 —

34.98:1 G1B3 —

45.56:1** G1B4 G2B4

50.89:1** G1B5 G2B5

58.86:1 G1B6 —

68.07:1 G1B7 —

71.16:1 G1B8 —

78.72:1 G1B9 —

92.70:1** G1C1 G2C1

95.18:1 G1C2 —

99.51:1 G1C3 —

107.21:1 G1C4 —

115.08:1 G1C5 —

123.98:1 G1C6 —

129.62:1 G1C7 —

139.14:1 G1C8 —

149.90:1 G1C9 —

168.85:1** G1D1 G2D1

181.25:1 G1D2 —

195.27:1 G1D3 —

236.10:1 G1D4 —

307.55:1** G1D5 G2D5

Part Number

PM105

PM120

Model

‡

Model

4.33 SQ.
(110.0 SQ.)

3.50 SQ.

(88.9 SQ.)

3.94 SQ.*

100.0 SQ.

†

Ctrg. DIN 332-D M12

Key DIN 6885-A-10x8x50mm

4 MDrive42AC Plus Microstepping REV060208

Ø 4.72

(Ø 120.0)

†

0.59

(15.0)

Gearbox Lengths Inches (mm)

GEARBOX* with FLANGE

1-Stage
2-Stage
3-Stage

6.23 (158.2) 6.58 (167.2)

7.57 (192.4) 7.93 (201.4)

8.92 (226.6) 9.28 (235.6)

MDrive42AC Plus

k1

†

ORDER INFORMATION — MDrive42AC Plus Microstepping

CONNECTIVITY

CONNECTING

w

QuickStart Kit

ne

For rapid design verifi cation, all-inclusive QuickStart Kits have com­munication converter, prototype development cable(s), instructions
and CD for MDrivePlus initial functional setup and system testing.

Communication Converter

new

Electrically isolated, in-line con vert er pre-wired with mating connec­tor to conveniently set/program communication parameters for a
single MDrivePlus via a PC's USB port. Length 12.0' (3.6m).
Mates to connector:

5-Pin M12 ............................................MD-CC301-001

Prototype Development Cables

Speed test/development with pre-wired mating connectors that
have fl ying leads other end. Single-ended cordsets are PVC jack­eted with foil shield and unconnected drain wire. Length 13.0'
(4.0m).
Mates to connector:
19-Pin M23

Straight Termination ..........................MD-CC100-000

Right Angle Termination .....................MD-CC101-000

3-Pin Euro AC

Straight Termination ..........................MD-CC200-000

Right Angle Termination .....................MD-CC201-000

PART NUMBERING

K

Plus

base version

Plus2-65

IP65 sealed

**

MDM MSZ42 –

QuickStart Kit
details above

MDrive Version

1 = Plus
2 = Plus-65 (sealed)**

P1: I/O & Communications,
19-Pin M23 Circular Connector

P3: Power, 3-Pin Euro AC Connector

Motor

A = Single Length
B = Double Length

OPTION

Input Voltage

1 = 120 Volt
2 = 240 Volt

OPTIONS

OPTIONS

Internal Encoder

An internal 512-line (2048 count) differential optical

encoder with index mark is available factory-mounted.

Control Knob

For manual shaft positioning, a factory-mounted rear control

knob is available.

Planetary Gearbox

Effi cient, low maintenance planetary gearboxes are

offered factory-mounted. Refer to details and part num­bers on the back cover.

‡ Not Available with Sealed –65 Versions.

Connectivity details: www.imshome.com/cables_cordsets.html

‡

OPTIONS

Internal
Encoder

Refer to encoder specifications section for line counts and part numbers.

Example: MDM1MSQ42B2–EX adds an internal 512-line differential
optical encoder with index mark to example #1.

Control
Knob

Example: MDM1MSZ42B2–N adds a rear control knob to
example #1.

–E

–N

Not available with sealed –65 versions.

Example #1: Part Number MDM1MSZ42B2
is an MDrive42AC Plus
19-pin M23 circular I/O & SPI communications
interface, NEMA 42 double length motor and
240 input voltage.

**Consult Factory for Availability.

U.S.A. SALES OFFICES
Eastern Region

Tel. [phone] - Fax [phone]
e-mail: [e-mail]

Central Region

Tel. [phone] - Fax [phone]
e-mail: [e-mail]

Western Region

Tel. [phone]

[e-mail]

e-mail:

IMS ASIA PACIFIC OFFICE

30 Raffl es Pl., 23-00 Caltex House
Tel. [phone] - Fax [phone]
e-mail: [e-mail]

, Singapore 048622

IMS EUROPEAN SALES MANAGEMENT

4 Quai Des Etroits
69005 Lyon, France
Tel. [phone] - Fax [phone]
e-mail: [e-mail]

IMS UK Ltd.

Sanderson Centre, 15 Lees Lane
Gosport, Hampshire PO12 3UL
Tel. [phone] - Fax [phone]
e-mail: [e-mail]

TECHNICAL SUPPORT

Tel. [phone] - Fax [phone]
e-mail: [e-mail]

Intelligent Motion Systems, Inc.

370 North Main Street, P.O. Box 457
Marlborough, CT 06447 - U.S.A.
Tel. [phone] - Fax [phone]
e-mail: [e-mail]
http: //www.imshome.com

© Intelligent Motion Systems, Inc. All Rights Reserved. REV060208

IMS Product Disclaimer and most recent product information at www.imshome.com.

Microstepping

with

Planetary
Gearbox

Refer to gearbox page for complete
table of ratios and part numbers.

Example: MDM1MSZ42B2–G1A2 adds a PM105 1-stage
planetary gearbox with 5.18:1 ratio to example #1.
Add –F for optional NEMA flange.

–G

– F

Optional NEMA Flange